Integration of multi-axis platform with synchronous motion-sensing and virtual reality imagery for the depth of immersion

摘要

This paper presented a multi-axis synchronous motion-sensing platform with virtual reality (VR) to enhance the depth of immersion. Multidisciplinary technologies have been integrated in this system, such as interactive technology, spatial position, tactile stimulation, and scenario sensing, to build a complete system of multi-axis VR sensing mechanism. This platform was consisted of servo motors with precision planetary gear reducer, drivers, and three crank linkages under 3 degrees of freedom (DoF) for working on a larger range of motion and able to support higher loading with lower folding height. A servo motor with reducer was connected to each linkage to control and drive the platform directly. The kinematic analysis of motion types on a heave, roll, and pitch was applied to validate the motion of this platform. The target speeds of step response experiments were 1000 rpm, 800 rpm, and 600 rpm, respectively. The rising time was upgraded by 15-18% in the experiment of the position loop. The results show that Cascade design can improve the response of this system. In addition, Visual Studio C# and EtherCAT communication transmission with the motion control card were utilized to establish the motion control system and human machine interface (HMI) to check the system status immediately. Finally, the platform was combined with VR image content that we designed. The motion-sensing platform could receive fast dynamic response. The simulation and control feedback of the synchronous bi-directional control can be realized the immersion of the virtual image and real world motion interactively. This system could highly enhance the immersion experience.